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diff --git a/en/compatibility/cts/sensor-fusion-box-assembly.md b/en/compatibility/cts/sensor-fusion-box-assembly.md index c104f461..ba236e51 100644 --- a/en/compatibility/cts/sensor-fusion-box-assembly.md +++ b/en/compatibility/cts/sensor-fusion-box-assembly.md @@ -14,9 +14,9 @@ Book: /_book.yaml limitations under the License. --> -# Sensor Fusion Box Assembly +# Sensor Fusion Box Details -This page provides step-by-step instructions for assembling a Sensor Fusion +This page provides information on how to purchase or assemble a Sensor Fusion Box. The Sensor Fusion Box is used in the CameraITS sensor_fusion test and multi-camera sync test. It provides a consistent test environment for measuring timestamp accuracy of camera and other sensors for Android phones. It consists @@ -33,190 +33,190 @@ vendors. * *Acu Spec, Inc.* 990 Richard Ave, Ste 103, Santa Clara, CA 95050 fred@acuspecinc.com -* *MYWAY, Inc* +* *MYWAY DESIGN* 4F., No. 163, Fu Ying Rd., New Taipei City, Taiwan - sales@myway.tw + sales@myway.tw + http://www.myway.tw/ ## Building a Sensor Fusion Box This section includes step-by-step instructions for assembling a Sensor Fusion -Box from laser-cut plastic components (shown in Figure 1): +Box from laser-cut acrylonitrile butadiene styrene (ABS) components (shown in +Figure 1): -<img src="/compatibility/cts/images/sensor_fusion_assembly_box_cad_drawing.png" width="700" alt="CAD drawing of Sensor Fusion Box components"> -**Figure 1.** CAD drawing of Sensor Fusion Box components +<img src="/compatibility/cts/images/sensor_fusion_assembly_box_cad_drawing.png" width="700" alt="CAD drawing of Sensor Fusion Box components" class="screenshot"> +**Figure 1.** Mechanical drawing of Sensor Fusion Box components ### Required tools Before starting, ensure you have downloaded the technical drawings for the Sensor Fusion Box (included in the -[Sensor Fusion Box zip file](/compatibility/cts/sensor_fusion_1.4.zip)) and +[Sensor Fusion Box zip file](/compatibility/cts/sensor_fusion_1.5.zip)) and have the following tools available: * Phillips head screwdriver +* Hex keys * Power drill set * Exacto knife * Tape ### Step 1: Apply vinyl stickers -After creating the plastic components with a laser cutter, you can apply vinyl -stickers to the plastic box components: +After creating the ABS components with a laser +cutter, apply vinyl stickers to the plastic box to get the proper color control +on the interior of the test box: -1. Apply vinyl on the smooth side of the ABS (acrylonitrile butadiene styrene) - as shown in **Figure 2**. For helpful tips on applying vinyl, refer to +1. Apply vinyl on the smooth side of the ABS + as shown in Figure 2. For helpful tips on applying vinyl, refer to [wikiHow](https://www.wikihow.com/Install-a-Vinyl-Graphic){: .external}. -1. Cut out the necessary holes on the vinyl. +1. Cut out the necessary holes on the vinyl with the exacto knife. <img src="/compatibility/cts/images/sensor_fusion_assembly_abs_pieces.png" width="350" alt="BS pieces"> **Figure 2.** ABS pieces with vinyl applied on the smooth side (interior of the box) -### Step 2: Attach servo +### Step 2: Prepare phone mount and attach servo mount -To attach the servo: +To prepare the phone mount to attach to the servo: -1. Tap three holes on the phone fixture with ¼" - 20, and make countersink - holes on the back of the phone fixture: - <table class="columns"> - <tr> - <td><img src="/compatibility/cts/images/sensor_fusion_assembly_phone_fixture_holes1.png" width="250" alt="Phone fixture tap holes"></td> - <td><img src="/compatibility/cts/images/sensor_fusion_assembly_phone_fixture_holes2.png" width="250" alt="Phone fixture countersink holes"></td> - </tr> - </table> - **Figure 3.** Phone fixture with tap and countersink holes shown +1. Tap 16 holes on the phone fixture with ¼" - 20 and make countersink + holes on the back of the phone fixture. -1. With the large shaft that came with the servo, drill pilot holes with #43 - drill bit (2.26 mm) into the last holes from each side so 4-40 screws could - grab onto them: + <img src="/compatibility/cts/images/sensor_fusion_assembly_phone_fixture_holes.png" width="350" alt="Phone fixture holes"> + **Figure 3.** Phone fixture with tap and countersink holes + +1. With the large shaft that came with the servo, drill pilot holes with a #43 + drill bit (2.26 mm) into the last holes from each side so 4-40 screws can be + inserted through the holes. <img src="/compatibility/cts/images/sensor_fusion_assembly_servo_shaft.png" width="350" alt="Servo shaft"> **Figure 4.** Servo shaft with pilot holes at each end -1. Apply the flat-head 4-40 screws on the front of the phone fixture and - tighten the shaft: +1. Insert and tighten the flat-head 4-40 screws as shown in figure 5 on the + front of the phone fixture and tighten the shaft as shown in figure 6. - <img src="/compatibility/cts/images/sensor_fusion_assembly_shaft_screws.png" width="350" alt="Shaft and screws"> - **Figure 5.** Phone fixture front with shaft and screws shown + <img src="/compatibility/cts/images/sensor_fusion_assembly_screws.png" width="350" alt="Shaft and screws"> + **Figure 5.** Flat-head 4-40 screws <img src="/compatibility/cts/images/sensor_fusion_assembly_shaft.png" width="350" alt="Shaft"> **Figure 6.** Shaft on the back of fixture, tightened by screws applied from the front -### Step 3: Attach clamp & rails +### Step 3: Attach phone clamps -To attach the clamp and rails: +To attach the phone clamps: -1. Apply nylon thumb screws, rubber adhesive, and wire to the aluminum clamp: +1. Apply nylon thumb screws, rubber adhesive, and wire spring to the aluminum + clamp. <img src="/compatibility/cts/images/sensor_fusion_assembly_clamp.png" width="350" alt="Clamp with rubber adhesive"> - **Figure 7.** Clamp with rubber adhesive, thumb screws and wire + **Figure 7.** Clamp with rubber adhesive, thumb screws and wire spring 1. Screw the phone clamps' thumb screws into the tapped holes of the phone - fixture. + fixture as shown in figure 8. You can adjust the location of the phone mounts + depending on the size of the phones as shown in figure 9. - * CAD Drawing: + * Mechanical drawing: - <img src="/compatibility/cts/images/sensor_fusion_assembly_clamp_attachment_cad_drawing.png" width="450" alt="CAD drawing of clamp attachment"> - **Figure 8.** CAD drawing of clamp attachment to phone fixture + <img src="/compatibility/cts/images/sensor_fusion_assembly_clamp_attachment_drawing.png" width="600" alt="CAD drawing of clamp attachment" class="screenshot"> + **Figure 8.** Mechanical drawing of clamp attachment to phone fixture - * Actual clamp attachment to phone fixture: + * Phone mounts attachment to phone fixture: <img src="/compatibility/cts/images/sensor_fusion_assembly_assembled_fixture.png" width="350" alt="Assembled phone fixture"> **Figure 9.** Assembled phone fixture -1. Fix rails on top and bottom of box towards the front. The figure below shows - 6-32 screws on pre-tapped holes, but you can use self-tapping screws instead - if desired. +### Step 4: Assemble sliding door rail + +1. Fix sliding panel rails on the top and bottom of the box towards the front. + Figure 10 shows 6-32 screws on pre-tapped holes. Alternatively, you can use + self-tapping screws. - <img src="/compatibility/cts/images/sensor_fusion_assembly_fixed_rail.png" width="350" alt="Fixed rail"> - **Figure 10.** Fixed rail on top and bottom of box + <img src="/compatibility/cts/images/sensor_fusion_assembly_fixed_rail.png" width="450" alt="Fixed rail"> + **Figure 10.** Fixed sliding panel rail on top and bottom of box -### Step 4: Attach lighting +### Step 5: Attach lighting To attach the light brackets and diffuser: -1. Stack two handle pieces and connect using 6-32 screws (or use self-tapping - screws): +1. Stack two handle pieces on top of each other and assemble them using 6-32 + screws (or use self-tapping screws). <img src="/compatibility/cts/images/sensor_fusion_assembly_handle_pieces.png" width="450" alt="Handle pieces and assembly"> **Figure 11.** Sensor fusion box handle pieces and assembly -1. Prepare four 4-40 screws and nuts to fix the mounting bracket from the - lighting kit to the wall of the box: +1. Prepare four 4-40 screws, nuts, and acorn nuts to fix the mounting bracket + from the lighting kit to the wall of the box. <img src="/compatibility/cts/images/sensor_fusion_assembly_interior_wall_screws.png" width="350" alt="Screws and bracket on interior wall"> - **Figure 12.** Screws and light bracket on the interior wall of the box + **Figure 12.** 4-40 screws and light bracket on the interior wall of the box <img src="/compatibility/cts/images/sensor_fusion_assembly_exterior_bolts.png" width="350" alt="Exterior with bolts applied"> - **Figure 13.** Bolts applied to the screws from the exterior of the box - -1. Snap the lights into the brackets (can be a tight fit): - - <img src="/compatibility/cts/images/sensor_fusion_assembly_interior_wall_lights.png" width="450" alt="Lights on interior wall"> - **Figure 14.** Lights fixed to the interior wall with brackets + **Figure 13.** Bolts and acorn bolts applied to the screws from the exterior + of the box -1. Cut the light diffuser to an appropriate size to wrap the light strips: +1. Cut the light diffuser to an appropriate size to wrap the light strips. <img src="/compatibility/cts/images/sensor_fusion_assembly_light_strips_diffusers.png" width="350" alt="Light strips and diffusers"> - **Figure 15.** Light strips and light diffusers + **Figure 14.** Light strips and light diffusers -1. Wrap the light diffuser around the strip and tape it at the back: +1. Wrap the light diffuser around the strip and tape it at the back. <img src="/compatibility/cts/images/sensor_fusion_assembly_strips_taped_back.png" width="350" alt="Strips and diffusers taped from back"> - **Figure 16.** Light strips and light diffusers taped from the back + **Figure 15.** Light strips and light diffusers taped from the back -### Step 5: Attach phone fixture to servo plate +1. Snap the lights into the brackets (can be a tight fit). + + <img src="/compatibility/cts/images/sensor_fusion_assembly_interior_wall_lights.png" width="450" alt="Lights on interior wall"> + **Figure 16.** Lights not mounted in brackets (left). Lights mounted in brackets (right). + +### Step 6: Attach phone fixture to servo plate To attach the phone fixture to the servo plate: -1. Prepare four 6-32 screws and servo plate to fix the servo onto the wall. - The screws go from inside and fix themselves onto the servo plate that is - on the exterior of the wall. +1. Prepare four 6-32 screws and a servo plate to fix the servo onto the wall. + Fix the servo onto the interior wall and insert the screws from the inside + into the servo plate on the exterior wall. <img src="/compatibility/cts/images/sensor_fusion_assembly_servo_servo_plate.png" width="450" alt="Servo and servo plate"> **Figure 17.** Servo and servo plate held in place with 6-32 screws 1. Secure phone fixture onto the servo with nylocks (pushing the center of the - shaft into the servo's rotation center): + shaft into the servo's rotation center). - <img src="/compatibility/cts/images/sensor_fusion_assembly_phone_fixture.png" width="450" alt="Phone fixture on servo"> - **Figure 18.** Phone fixture on servo + <img src="/compatibility/cts/images/sensor_fusion_assembly_phone_mount_servo.png" width="450" alt="Phone fixture on servo"> + **Figure 18.** Phone mount fixed on servo shaft with nylocks -1. Screw the phone fixture onto the servo with its servo screw: +1. Screw the phone fixture onto the servo with its servo screw. <img src="/compatibility/cts/images/sensor_fusion_assembly_servo_screw.png" width="350" alt="Phone fixture on servo with screw"> **Figure 19.** Securing phone fixture onto servo with servo screw -### Step 6: Final assembly +### Step 7: Final assembly -To complete final assembly of the Sensor Fusion Box: +To complete assembly of the Sensor Fusion Box: 1. Secure servo control box on the left of the servo with 4-40 screws from the - outside and fastened from the inside with nuts: + outside and fasten from the inside with nuts. <img src="/compatibility/cts/images/sensor_fusion_assembly_servo_on_wall.png" width="450" alt="Servo control box on wall"> **Figure 20.** Secure servo control box onto the wall 1. Tape the box together, then screw the parts together (you might need to - pre-drill some holes in some parts). - - * CAD drawing: - - <img src="/compatibility/cts/images/sensor_fusion_assembly_complete_box_drawing.png" width="450" alt="Complete box CAD drawing"> - **Figure 21.** CAD drawing of complete Sensor Box + pre-drill holes in some parts). - * Actual Sensor Fusion Box: + * Assembled Sensor Fusion Box: <img src="/compatibility/cts/images/sensor_fusion_assembly_taped_box.png" width="450" alt="Taped box"> - **Figure 22.** Taped box with motor assembly and servo control box and + **Figure 21.** Taped box with motor assembly and servo control box and screw detail 1. Print out a colored copy of the checkerboard (included in the [Sensor Fusion - Box zip file](/compatibility/cts/sensor_fusion_1.4.zip)) on A3 (or 11 x 17 - inch paper), and tape it on the opposite wall of the phone fixture. + Box zip file](/compatibility/cts/sensor_fusion_1.5.zip)) on A3 (or 11 x 17 + inch) paper, and tape it on the opposite wall of the phone fixture. - Make sure the red dot in the center of the checkerboard is directly facing - the camera when placed on the fixture, as shown below: + Make sure the red dot in the center of the checkerboard is directly facing + the camera when placed on the fixture, as shown below. <img src="/compatibility/cts/images/sensor_fusion_assembly_checkerboard.png" width="350" alt="Checkerboard"> - **Figure 23.** Checkerboard printed and taped to the opposite wall of phone + **Figure 22.** Checkerboard printed and taped to the opposite wall of phone fixture |